Added the tutorial on background subtraction, in the video section

doc/conf.py

@@ -401,5 +401,7 @@ extlinks = {
             'brute_force_matcher' : ('http://docs.opencv.org/modules/features2d/doc/common_interfaces_of_descriptor_matchers.html?highlight=bruteforcematcher#bruteforcematcher%s', None ),
             'cascade_classifier' : ('http://docs.opencv.org/modules/objdetect/doc/cascade_classification.html?highlight=cascadeclassifier#cascadeclassifier%s', None ),
             'cascade_classifier_load' : ('http://docs.opencv.org/modules/objdetect/doc/cascade_classification.html?highlight=load#cascadeclassifier-load%s', None ),
-            'cascade_classifier_detect_multiscale' : ('http://docs.opencv.org/modules/objdetect/doc/cascade_classification.html?highlight=detectmultiscale#cascadeclassifier-detectmultiscale%s', None )
-           }
+            'cascade_classifier_detect_multiscale' : ('http://docs.opencv.org/modules/objdetect/doc/cascade_classification.html?highlight=detectmultiscale#cascadeclassifier-detectmultiscale%s', None ),
+			'background_subtractor' : ('http://opencv.itseez.com/modules/video/doc/motion_analysis_and_object_tracking.html?highlight=backgroundsubtractor#backgroundsubtractor%s', None),
+			'video_capture' : ('http://opencv.itseez.com/modules/highgui/doc/reading_and_writing_images_and_video.html?highlight=videocapture#videocapture%s', None)
+		   }

doc/tutorials/definitions/tocDefinitions.rst

@@ -11,3 +11,4 @@
 .. |Author_EricCh| unicode:: Eric U+0020 Christiansen
 .. |Author_AndreyP| unicode:: Andrey U+0020 Pavlenko
 .. |Author_AlexS| unicode:: Alexander U+0020 Smorkalov
+.. |Author_DomenicoB| unicode:: Domenico U+0020 Daniele U+0020 Bloisi

doc/tutorials/video/table_of_content_video/table_of_content_video.rst

@@ -3,10 +3,35 @@
 *video* module. Video analysis
 -----------------------------------------------------------
 
-Look here in order to find use on your video stream algoritms like: motion extraction, feature tracking and foreground extractions.
+Look here in order to find use on your video stream algoritms like: motion extraction, feature tracking and foreground extractions. 
 
-.. include:: ../../definitions/noContent.rst
+.. include:: ../../definitions/tocDefinitions.rst
+
++ 
+  .. tabularcolumns:: m{100pt} m{300pt}
+  .. cssclass:: toctableopencv
+
+  =============== ======================================================
+   |BgSub|        **Title:** :ref:`Background_Subtraction`
+  
+                  *Compatibility:* > OpenCV 2.4.5
+
+                  *Author:* |Author_DomenicoB|
+  
+                  We will learn how to extract foreground masks from both videos and sequences of images and to show them.
+  
+  =============== ======================================================
+  
+  .. |BgSub| image:: images/Background_Subtraction_Tutorial_Cover.jpg
+                   :height: 90pt
+                   :width:  90pt
 
 .. raw:: latex
 
    \pagebreak
+
+.. toctree::
+   :hidden:
+
+   ../background_subtraction/background_subtraction
+

modules/stitching/src/motion_estimators.cpp

@@ -259,7 +259,7 @@ bool BundleAdjusterBase::estimate(const std::vector<ImageFeatures> &features,
     bool ok = true;
     for (int i = 0; i < cam_params_.rows; ++i)
     {
-        if (isnan(cam_params_.at<double>(i,0)))
+        if (std::isnan(cam_params_.at<double>(i,0)))
         {
             ok = false;
             break;

samples/cpp/tutorial_code/video/bg_sub.cpp

+//opencv
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/highgui/highgui_c.h>
+#include <opencv2/video/background_segm.hpp>
+//C
+#include <stdio.h>
+//C++
+#include <iostream>
+#include <sstream>
+
+using namespace cv;
+using namespace std;
+
+//global variables
+Mat frame; //current frame
+Mat fgMaskMOG; //fg mask generated by MOG method
+Mat fgMaskMOG2; //fg mask fg mask generated by MOG2 method
+Ptr<BackgroundSubtractor> pMOG; //MOG Background subtractor
+Ptr<BackgroundSubtractor> pMOG2; //MOG2 Background subtractor
+int keyboard; //input from keyboard
+
+//function declarations
+void help();
+void processVideo(char* videoFilename);
+void processImages(char* firstFrameFilename);
+
+void help()
+{
+	cout
+	<< "--------------------------------------------------------------------------"	<< endl
+	<< "This program shows how to use background subtraction methods provided by "  << endl
+	<< " OpenCV. You can process both videos (-vid) and images (-img)."             << endl														
+																					<< endl
+	<< "Usage:"                                                                     << endl
+	<< "./bs {-vid <video filename>|-img <image filename>}"                         << endl
+	<< "for example: ./bs -vid video.avi"                                           << endl
+	<< "or: ./bs -img /data/images/1.png"                                           << endl
+	<< "--------------------------------------------------------------------------" << endl
+	<< endl;
+}
+
+int main(int argc, char* argv[])
+{
+	//print help information
+	help();
+
+	//check for the input parameter correctness
+	if(argc != 3) {
+		cerr <<"Incorret input list" << endl;
+		cerr <<"exiting..." << endl;
+		return EXIT_FAILURE;
+	}
+
+	//create GUI windows
+    namedWindow("Frame");
+    namedWindow("FG Mask MOG");
+    namedWindow("FG Mask MOG 2");
+	
+	//create Background Subtractor objects
+	pMOG = createBackgroundSubtractorMOG(); //MOG approach
+	pMOG2 = createBackgroundSubtractorMOG2(); //MOG2 approach
+
+    if(strcmp(argv[1], "-vid") == 0) {
+		//input data coming from a video
+		processVideo(argv[2]);
+    }
+    else if(strcmp(argv[1], "-img") == 0) {
+		//input data coming from a sequence of images
+		processImages(argv[2]);
+    }
+    else {
+		//error in reading input parameters
+		cerr <<"Please, check the input parameters." << endl;
+		cerr <<"Exiting..." << endl;
+		return EXIT_FAILURE;
+    }
+    //destroy GUI windows
+    destroyAllWindows();
+    return EXIT_SUCCESS;
+}
+
+void processVideo(char* videoFilename) {
+    //create the capture object
+    VideoCapture capture(videoFilename);
+    if(!capture.isOpened()){
+		//error in opening the video input
+		cerr << "Unable to open video file: " << videoFilename << endl;
+		exit(EXIT_FAILURE);
+    }
+    //read input data. ESC or 'q' for quitting
+    while( (char)keyboard != 'q' && (char)keyboard != 27 ){
+		//read the current frame
+		if(!capture.read(frame)) {
+			cerr << "Unable to read next frame." << endl;
+			cerr << "Exiting..." << endl;
+			exit(EXIT_FAILURE);
+		}
+		//update the background model
+		pMOG->apply(frame, fgMaskMOG);
+		pMOG2->apply(frame, fgMaskMOG2);
+		//get the frame number and write it on the current frame
+		stringstream ss;
+		rectangle(frame, cv::Point(10, 2), cv::Point(100,20),
+                cv::Scalar(255,255,255), -1);
+		ss << capture.get(CV_CAP_PROP_POS_FRAMES);
+		string frameNumberString = ss.str();
+		putText(frame, frameNumberString.c_str(), cv::Point(15, 15),
+              CV_FONT_NORMAL, 0.5 , cv::Scalar(0,0,0));
+		//show the current frame and the fg masks
+		imshow("Frame", frame);
+		imshow("FG Mask MOG", fgMaskMOG);
+		imshow("FG Mask MOG 2", fgMaskMOG2);
+		//get the input from the keyboard
+		keyboard = waitKey( 30 );
+    }
+    //delete capture object
+    capture.release();
+}
+
+void processImages(char* fistFrameFilename) {
+    //read the first file of the sequence
+    frame = imread(fistFrameFilename);
+    if(!frame.data){
+		//error in opening the first image
+		cerr << "Unable to open first image frame: " << fistFrameFilename << endl;
+		exit(EXIT_FAILURE);
+    }
+    //current image filename
+    string fn(fistFrameFilename);
+    //read input data. ESC or 'q' for quitting
+    while( (char)keyboard != 'q' && (char)keyboard != 27 ){
+		//update the background model
+		pMOG->apply(frame, fgMaskMOG);
+		pMOG2->apply(frame, fgMaskMOG2);
+		//get the frame number and write it on the current frame
+		size_t index = fn.find_last_of("/");
+		if(index == string::npos) {
+			index = fn.find_last_of("\\");
+		}
+		size_t index2 = fn.find_last_of(".");
+		string prefix = fn.substr(0,index+1);
+		string suffix = fn.substr(index2);
+		string frameNumberString = fn.substr(index+1, index2-index-1);
+		istringstream iss(frameNumberString);
+		int frameNumber;
+		iss >> frameNumber;
+		rectangle(frame, cv::Point(10, 2), cv::Point(100,20),
+			  cv::Scalar(255,255,255), -1);
+		putText(frame, frameNumberString.c_str(), cv::Point(15, 15),
+			CV_FONT_NORMAL, 0.5 , cv::Scalar(0,0,0));
+		//show the current frame and the fg masks
+		imshow("Frame", frame);
+		imshow("FG Mask MOG", fgMaskMOG);
+		imshow("FG Mask MOG 2", fgMaskMOG2);
+		//get the input from the keyboard
+		keyboard = waitKey( 30 );
+		//search for the next image in the sequence
+		ostringstream oss;
+		oss << (frameNumber + 1);
+		string nextFrameNumberString = oss.str();
+		string nextFrameFilename = prefix + nextFrameNumberString + suffix;
+		//read the next frame
+		frame = imread(nextFrameFilename);
+		if(!frame.data){
+			//error in opening the next image in the sequence
+			cerr << "Unable to open image frame: " << nextFrameFilename << endl;
+			exit(EXIT_FAILURE);
+		}
+		//update the path of the current frame
+		fn.assign(nextFrameFilename);
+	}
+}